Research On A Four Degrees Of Freedom Teaching-Robot

SCARA (Selectively Compliance Articulated Robot Arm) robots work in a similar way as human's arms. The SCARA robot, incorporating a shoulder joint, an elbow joint, and a wrist joint, is capable of operating vertically and horizontally. The SCARA robot is a kind of 4 DOF industrial robots, 3 rotary DOFs and 1 linear DOF. It, featuring compliance, good vertical rigidity, and horizontal flexibility, is widely used in assembly.Modular-design methodology was utilized to design the mechanism. Model of Location Error Computation for the SCARA robot was deduced, based on the analysis of forward kinematics and reverse kinematics of SCARA robot as well as the generic algorithm of mechanism-precision. Open-architecture for motion control, based on PC, was employed to construct the hardware and software of the control system, in which a PCI-bus high performance multi-axis motion control card served as the core of motion control. The software system was developed on the platform of Visual C++ in Windows. Trajectory planning of robot was also researched. In this paper, path planning algorithm in the joint space and two kinds of linear interpolation algorithms in the Cartesian space were introduced.